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Thomas Pitiot
SocialAgents3D
Commits
d3f5c92d
Commit
d3f5c92d
authored
May 30, 2013
by
pitiot
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u
parent
9734ba27
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6
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6 changed files
with
43 additions
and
26 deletions
+43
-26
include/env_map.h
include/env_map.h
+1
-1
include/path_finder.hpp
include/path_finder.hpp
+1
-1
src/agent.cpp
src/agent.cpp
+20
-5
src/moving_mesh.cpp
src/moving_mesh.cpp
+5
-5
src/moving_obstacle.cpp
src/moving_obstacle.cpp
+10
-9
src/simulator.cpp
src/simulator.cpp
+6
-5
No files found.
include/env_map.h
View file @
d3f5c92d
...
...
@@ -32,7 +32,7 @@ class ArticulatedObstacle;
#include "pfp.h"
#define EXPORTING3
//
#define EXPORTING3
#define TWO_AND_HALF_DIM
...
...
include/path_finder.hpp
View file @
d3f5c92d
...
...
@@ -104,7 +104,7 @@ std::vector<Dart> pathFindAStar(EnvMap& envMap, const typename PFP::TVEC3& posit
}
else
{
std
::
cout
<<
"pathFindAStar: no path found !"
<<
std
::
endl
;
//
std::cout << "pathFindAStar: no path found !" << std::endl ;
// exit(1) ;
}
return
path
;
...
...
src/agent.cpp
View file @
d3f5c92d
...
...
@@ -519,11 +519,11 @@ void Agent::update()
#ifdef EXPORTING_OBJ
VEC3
dir
=
meanDirection_
;
VEC3
base
(
0
,
-
1
,
0
)
;
VEC3
axisRot
=
base
^
dir
;
int
sign
=
axisRot
[
2
]
>
0
?
1
:
-
1
;
// Geom::Plane3D<float> pl = Algo::Surface::Geometry::facePlane<PFP>(sim_->envMap_.map, part_.d, sim_->envMap_.position)
;
// pl.project(dir)
;
//57,2957795 : conversion from radian to degree
float
myRot
=
sign
*
acos
(
-
dir
[
1
]);
const
VEC3
displ
=
getPosition
();
// TraversorV<PFP2::MAP> tV(map);
...
...
@@ -533,11 +533,26 @@ void Agent::update()
// position[d] = position[d]+displ;
// position[d] += rotate(position[d], getPosition(), myRot);
// }
VEC3
normale
=
Algo
::
Surface
::
Geometry
::
faceNormal
<
PFP
>
(
sim_
->
envMap_
.
map
,
part_
.
d
,
sim_
->
envMap_
.
position
);
m_transfo
.
identity
();
Geom
::
rotateZ
(
myRot
,
m_transfo
);
float
angle2
=
Geom
::
angle
(
dir
,
base
)
;
VEC3
axis2
=
VEC3
(
0
,
0
,
1
);
if
(
angle2
!=
0
)
{
// CGoGNout<<"mexicain :" << agentNo << "angle : "<< angle2 <<CGoGNendl;
Geom
::
rotate
(
axis2
,
angle2
,
m_transfo
)
;
}
float
angle
=
Geom
::
angle
(
normale
,
VEC3
(
0
,
0
,
1
)
)
;
VEC3
axis
=
VEC3
(
0
,
0
,
1
)
^
normale
;
if
(
angle
!=
0
)
{
Geom
::
rotate
(
axis
,
angle
,
m_transfo
)
;
}
Geom
::
translate
(
displ
[
0
],
displ
[
1
],
displ
[
2
],
m_transfo
);
m_transfo
.
transpose
();
// previousPos = getPosition();
// previousRot = myRot;
...
...
src/moving_mesh.cpp
View file @
d3f5c92d
...
...
@@ -26,7 +26,7 @@ constrainedV(map)
float
area
=
Algo
::
Surface
::
Geometry
::
convexFaceArea
<
PFP
>
(
envMap
.
map
,
d
,
envMap
.
position
);
scaleValue
=
std
::
max
(
area
/
1400.0
f
,
2.0
f
);
std
::
cout
<<
"scaleVal "
<<
scaleValue
<<
std
::
endl
;
//
std::cout << "scaleVal " << scaleValue << std::endl;
// scale(scaleValue/1.8f);
scale
(
scaleValue
);
...
...
@@ -261,7 +261,7 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
rot
.
identity
()
;
Geom
::
scale
(
1.5
f
,
1.5
f
,
1.0
f
,
rot
);
angle
=
Geom
::
angle
(
normale
,
VEC3
(
0
,
0
,
1
)
)
;
CGoGNout
<<
"angle : "
<<
angle
<<
CGoGNendl
;
//
CGoGNout<<"angle : "<<angle<<CGoGNendl;
axis
=
VEC3
(
0
,
0
,
1
)
^
normale
;
// Geom::translate(center[0],center[1],center[2],rot);
...
...
@@ -277,8 +277,8 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
// std::cout << "fin " << points[i] << std::endl;
}
std
::
cout
<<
"nb vertices before simplification -> "
<<
points
.
size
()
<<
" ||"
<<
points
[
0
]
<<
std
::
endl
;
std
::
cout
<<
"nb vertices after simplification -> "
<<
res
.
size
()
<<
" ||"
<<
res
[
0
]
<<
std
::
endl
;
//
std::cout << "nb vertices before simplification -> " << points.size() <<" ||" << points [0]<< std::endl;
//
std::cout << "nb vertices after simplification -> " << res.size() << " ||" << res [0]<< std::endl;
return
res
;
}
...
...
@@ -318,7 +318,7 @@ void MovingMesh::simplifyCurve(std::vector<VEC3>& pointSet, std::vector<bool>& a
std
::
vector
<
VEC3
>
MovingMesh
::
jarvisConvexHull
(
const
std
::
vector
<
VEC3
>&
pointSet
)
{
std
::
cout
<<
"pointSet "
<<
pointSet
.
size
()
<<
std
::
endl
;
//
std::cout << "pointSet " << pointSet.size() << std::endl;
assert
(
pointSet
.
size
()
>
2
);
// std::vector<unsigned int> convHull;
...
...
src/moving_obstacle.cpp
View file @
d3f5c92d
...
...
@@ -912,12 +912,12 @@ void MovingObstacle::updateForces()
float
norm
=
v1
.
norm
();
float
rigidity
=
50.0
f
;
float
stretch
=
4
*
rigidity
*
(
edgeLength
[
e
]
-
norm
);
float
stretch
=
rigidity
*
(
edgeLength
[
e
]
-
norm
);
//4
float
angularStretch
=
0
,
angularStretch2
=
0
;
float
restAngle
=
vertexAngle
[
e
];
if
(
restAngle
!=
0.0
f
)
{
float
angularRig
=
2
*
rigidity
;
float
angularRig
=
2
*
rigidity
;
//2
float
curAngle
=
Algo
::
Surface
::
Geometry
::
angle
<
PFP
>
(
map
,
d
,
map
.
phi2
(
map
.
phi_1
(
d
)),
position
);
...
...
@@ -954,7 +954,7 @@ void MovingObstacle::updateForces()
restAngle
=
vertexAngle
[
d
];
if
(
restAngle
!=
0.0
f
)
{
float
angularRig
=
2
*
rigidity
;
float
angularRig
=
2
*
rigidity
;
//2
float
curAngle
=
Algo
::
Surface
::
Geometry
::
angle
<
PFP
>
(
map
,
map
.
phi_1
(
d
),
map
.
phi2
(
map
.
phi1
(
d
)),
position
);
...
...
@@ -970,7 +970,7 @@ void MovingObstacle::updateForces()
angularStretch
=
angularRig
*
(
restAngle
-
curAngle
);
}
stretch
=
4
*
rigidity
*
(
edgeLength
[
d
]
-
norm
);
stretch
=
rigidity
*
(
edgeLength
[
d
]
-
norm
);
//4
if
(
norm
>
0.0
f
)
{
VEC3
f
=
(
stretch
+
angularStretch
)
*
(
v1
/
norm
);
...
...
@@ -988,7 +988,7 @@ void MovingObstacle::updateForces()
restAngle
=
vertexAngle
[
map
.
phi_1
(
d
)];
if
(
restAngle
!=
0.0
f
)
{
float
angularRig
=
2
*
rigidity
;
float
angularRig
=
2
*
rigidity
;
//2
float
curAngle
=
Algo
::
Surface
::
Geometry
::
angle
<
PFP
>
(
map
,
e
,
map
.
phi2
(
d
),
position
);
...
...
@@ -1019,12 +1019,13 @@ void MovingObstacle::updateForces()
//-------------------------------------------------------------------------
// ARASH : A présent on calcule les interactions avec les autres obstacles.
VEC3
norm
;
double
obst_stiffness
=
5
.0
;
// agent-obstacle interaction stiffness
double
obst_stiffness
=
2
.0
;
// agent-obstacle interaction stiffness
int
obst_power
=
2
;
// the power to which elevate the agent-obstacle distance
double
obst_radius_infl
;
double
obst_radius_infl
,
obst_radius_infl_buildings
;
obst_radius_infl
=
10.
;
// scenario 1 et 3
obst_radius_infl
=
20.
;
// scenario 1 et 3
obst_radius_infl_buildings
=
50.0
f
;
float
fixed_obst_factor
=
5.0
f
;
...
...
@@ -1055,7 +1056,7 @@ void MovingObstacle::updateForces()
VEC3
p1
=
obst
->
p2
;
VEC3
p2
=
obst
->
p1
;
forces
[
dd
]
+=
computeForce
(
p
,
p1
,
p2
,
fixed_obst_factor
*
obst_radius_infl
,
fixed_obst_factor
*
obst_power
,
fixed_obst_factor
*
obst_stiffness
,
normFace
);
forces
[
dd
]
+=
computeForce
(
p
,
p1
,
p2
,
obst_radius_infl_buildings
,
fixed_obst_factor
*
obst_power
,
fixed_obst_factor
*
obst_stiffness
,
normFace
);
}
d
=
map
.
phi
<
21
>
(
d
);
...
...
src/simulator.cpp
View file @
d3f5c92d
...
...
@@ -91,14 +91,14 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
case
6
:
envMap_
.
init
(
config
,
200.0
,
200.0
,
minSize
,
400.0
f
);
addMovingObstacles(nbObst, 1);
addMovingObstacles
(
nbObst
,
1
,
500
,
1
);
setupPlanetScenario
(
nbAgent
,
nbObst
);
addPathToObstacles
(
envMap_
.
buildingMark
,
true
);
addPathsToAgents
();
break
;
case
7
:
envMap_
.
init
(
config
,
200.0
,
200.0
,
minSize
,
400.0
f
);
addMovingObstacles(nbObst, 1 , 300 ,
3
);
addMovingObstacles
(
nbObst
,
1
,
300
,
1
);
setupPlanetScenario
(
nbAgent
,
nbObst
,
1
,
1
);
addPathToObstacles
(
envMap_
.
buildingMark
,
true
);
addPathsToAgents
();
...
...
@@ -774,7 +774,7 @@ void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstac
CellMarker
<
FACE
>
filled
(
envMap_
.
map
);
unsigned int bMax = nbx * nby > 0 ?
nbAgents / (nbx * nby
) : nbAgents ;
unsigned
int
bMax
=
nbx
*
nby
>
0
?
(
nbx
*
nby
<
nbAgents
?
nbAgents
/
(
nbx
*
nby
)
:
nbAgents
)
:
nbAgents
;
for
(
unsigned
int
i
=
0
;
i
<
bMax
&&
d
!=
envMap_
.
map
.
end
();
++
i
)
{
...
...
@@ -853,6 +853,7 @@ void Simulator::addMovingObstacles(unsigned int nb, unsigned int type, float are
// CGoGNout<<" dCell initiale :"<< d <<CGoGNendl;
}
}
std
::
cout
<<
"nb obstacles : "
<<
movingObstacles_
.
size
()
<<
std
::
endl
;
}
void
Simulator
::
addMovingObstacle
(
Dart
d
,
unsigned
int
obstType
)
...
...
@@ -903,7 +904,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
movingMeshes_
.
push_back
(
mm
);
vPos
=
mm
->
computeProjectedPointSet
(
maxHeight
,
d
);
std
::
reverse
(
vPos
.
begin
(),
vPos
.
end
());
std::cout << "créé limace" << std::endl;
//
std::cout << "créé limace" << std::endl;
}
break
;
...
...
@@ -946,7 +947,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
MovingObstacle
*
mo
=
new
MovingObstacle
(
this
,
movingObstacles_
.
size
(),
vPos
,
goals
,
(
obstType
==
0
),
(
obstType
==
0
),
0
,
d
);
std::cout << "créé obstacle : "<<vPos[0] << std::endl;
//
std::cout << "créé obstacle : "<<vPos[0] << std::endl;
movingObstacles_
.
push_back
(
mo
);
...
...
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